LS ELECTRIC L7NHF Series, Руководство пользователя

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4. CiA402 Drive Profile
4-21
4.5.2
Profile Torque Mode
Unlike CST mode, which receives the target torque that is renewed at every PDO update cycle from
the upper level controller, in Profile Torque (PT) mode, the drive generates a torque profile internally up
to the target torque (0x6071) by the torque slope (0x6087) in order to control its torque.
At this moment, the torque applied to the motor is limited depending on the Positive/Negative Torque
Limit Value (0x60E0 and 0x60E1) and the Maximum Torque (0x6072) based on its driving direction.
The block diagram of the PT mode is shown below.
Torque Offset (0x60B2)
Torque Actual Value (0x6077)
Velocity Actual Value (0x606C)
Position Actual Value (0x6064)
Generate
Torque
Command
Gear Ratio
Velocity
Control
Torque
Control
+
+
M
Enc.
Velocity
Calculation
Position
Calculation
Gear Ratio
Inverse
Gear Ratio
Inverse
Position Actual Internal
Value (0x6063)
OP Mode : Profile Torque
6
7
8
1
Target Torque (0x6071)
Torque Slope (0x6087)
Maximum Torque (0x6072)
Positive Torque Limit Value (0x60E0)
Negative Torque Limit Value (0x60E1)
2
Maximum Profile Velocity (0x607F)

Related Objects
Index
Sub
Index
Name
Variable
Type
Accessibility
PDO
Assignment
Unit
0x6040 - Controlword UINT RW Yes -
0x6041 - Statusword UINT RO Yes -
0x6071 - Target Velocity INT RW Yes 0.1%
0x6072 - Maximum Torque UINT RW Yes 0.1%
0x607F - Maximum Profile Velocity UDINT RW Yes UU/s
0x6087 - Torque Slope UDINT RW Yes 0.1%/s
0x60E0 - Positive Torque Limit Value UINT RW Yes 0.1%
0x60E1 - Negative Torque Limit Value UINT RW Yes 0.1%
0x60B2 - Torque Offset INT RW Yes 0.1%
0x6074 - Torque Demand Value INT RO Yes 0.1%
0x606C - Velocity Actual Value DINT RO Yes UU/s